Header header
float64 time
float64[] acc
float64[] gyro
float64[] rpy
float64[] mag
uint16[]  ps #port state
float64   temperature
float64   altitude
float64   ap #atmosphere pressure
float64   latitude
float64   longtitude
float64   gpsh #gps height
float64   gpsy #gps yaw
float64   gpsv #gps velocity
float64[] quarternion
uint8     sn #satelites number
float64[] dop


